Systems and methods for providing processing of a variety of objects employing motion planning

ABSTRACT

A processing system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments. The processing system includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location, a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination bins, and a motion planning system for determining a changing portion of a trajectory path of the end effector from the object to a base location proximate to the input location, and determining an unchanging portion of a trajectory path of the end effector from the base location to a destination bin location proximate to a destination bin, wherein the unchanging portion of the trajectory path is chosen to provide a path from the base location to the destination bin location that is consistent with paths taken by other objects.

PRIORITY

The present application claims priority to U.S. Provisional PatentApplication Ser. No. 62/292,538 filed Feb. 8, 2016, the disclosure ofwhich is hereby incorporated by reference in its entirety.

BACKGROUND

The invention generally relates to robotic and other sortation systems,and relates in particular to programmable motion control systems thatare intended to be employed in changing environments requiring themotion control system to accommodate processing a variety of objects inboth homogenous and heterogeneous arrangements.

Many order fulfillment operations achieve high efficiency by employingdynamic processes in which orders are picked from warehouse shelves andplaced into bins that are sorted downstream. At the sorting stageindividual articles are identified, and multi-article orders areconsolidated into a single bin or shelf location so that they may bepacked and then shipped to customers. The process of sorting thesearticles (or objects) has traditionally been done by hand. A humansorter picks an object from an incoming bin, finds the barcode on theobject, scans the barcode with a handheld barcode scanner, determinesfrom the scanned barcode the appropriate bin or shelf location for theobject, and then places the object in the so-determined bin or shelflocation where all objects for that order are placed.

Each object however, must be individually handled and processed,requiring that the programmable motion device accommodate a wide varietyof objects of different sizes, shapes and weights. There remains a needtherefore, for an object sortation and motion planning system for aprogrammable motion control system that is able to efficiently andeffectively perform the automated sortation and handling of a variety ofobjects.

SUMMARY

In accordance with an embodiment, the invention provides a processingsystem for providing processing of homogenous and non-homogenous objectsin both structured and cluttered environments. The processing systemincludes a programmable motion device including an end effector, aperception system for recognizing any of the identity, location, andorientation of an object presented in a plurality of objects at an inputlocation, a grasp acquisition system for acquiring the object using theend effector to permit the object to be moved from the plurality ofobjects to one of a plurality of processing locations, and a motionplanning system for determining a trajectory path from the inputlocation to one of the plurality of processing locations. The trajectorypath includes at least one changing portion that is determined specificto the object's location or orientation at the input location, and atleast one unchanging portion that is generally used in determiningtrajectory paths for a plurality of objects.

In accordance with another embodiment, the invention provides aprocessing system for providing sortation of homogenous andnon-homogenous objects in both structured and cluttered environments.The processing system includes a programmable motion device including anend effector, a perception system for recognizing any of the identity,location, and orientation of an object presented in a plurality ofobjects at an input location, a grasp acquisition system for acquiringthe object using the end effector to permit the object to be moved fromthe plurality of objects to one of a plurality of processing locations,and a motion planning system for determining a trajectory path from theinput location to one of the plurality of processing locations. Thetrajectory path includes at least one changing portion that isdetermined specific to the object's location or orientation at the inputlocation, and at least one unchanging portion that is predetermined andis not specific to the object, the object's location or the object'sorientation at the input area.

In accordance with a further embodiment, the invention provides a methodof providing processing of homogenous and non-homogenous objects in bothstructured and cluttered environments. The method includes the steps ofacquiring an object from an input location using an end effector of aprogrammable motion device to permit the object to be moved from theplurality of objects to one of a plurality of processing locations, anddetermining a trajectory path of the end effector from the object to oneof the plurality of processing locations. The trajectory path includesat least one changing portion that is determined specific to theobject's location or orientation at the input location, and at least oneunchanging portion that is predetermined and is not specific to theobject, the object's location or the object's orientation at the inputarea.

BRIEF DESCRIPTION OF THE DRAWINGS

The following description may be further understood with reference tothe accompanying drawings in which:

FIG. 1 shows an illustrative diagrammatic view of a system in accordancewith an embodiment of the present invention;

FIG. 2 shows an illustrative photographic view of an image captured by aperception device in the system as shown in FIG. 1;

FIG. 3 shows an illustrative diagrammatic view of stations in an objectprocessing system in accordance with an embodiment of the presentinvention;

FIG. 4 shows an illustrative diagrammatic view of the system of FIG. 3showing possible trajectory paths;

FIG. 5 shows an illustrative diagrammatic view of the system of FIG. 3showing additional possible trajectory paths as well as connectivity tothrough an network such as the Internet;

FIG. 6 shows an illustrative diagrammatic view of the system of FIG. 3mapping trajectory paths for multiple sortation stations for achievingminimum time;

FIG. 7 shows an illustrative diagrammatic view of the system of FIG. 3mapping trajectory paths for multiple sortation stations for achievingminimum risk;

FIG. 8 shows an illustrative diagrammatic view of the system of FIG. 3including an additional processing unit;

FIG. 9 shows an illustrative diagrammatic view of the system of FIG. 3including bin removal motion planning;

FIG. 10 shows an illustrative diagrammatic view of the system of FIG. 3including bin removal motion planning and a conveyor for empty bins;

FIG. 11 shows an illustrative diagrammatic view of a system inaccordance with a further embodiment of the present invention involvingmultiple processing stations;

FIG. 12 shows an illustrative diagrammatic view of a system inaccordance with a further embodiment of the present invention involvingmultiple processing stations that communicate via a network such as theInternet;

FIG. 13 shows an illustrative diagrammatic view of a robotic systememploying motion planning in accordance with an embodiment of thepresent invention;

FIGS. 14A-14C show illustrative diagrammatic views of the end effectorof FIG. 13 grasping and moving an object in accordance with anembodiment of the present invention;

FIG. 15 shows an illustrative diagrammatic view of an end effector thatincludes feedback sensors for use in systems in accordance with certainembodiments of the present invention;

FIG. 16 shows an illustrative diagrammatic view of the end effector ofFIG. 13 grasping an object in accordance with a further embodiment ofthe present invention;

FIG. 17 shows an illustrative diagrammatic view of the end effector ofFIG. 16 moving an object in accordance with a further embodiment of thepresent invention; and

FIG. 18 shows an illustrative diagrammatic view of the end effector ofFIG. 16 placing the object at a destination location in a desiredorientation.

The drawings are shown for illustrative purposes only.

DETAILED DESCRIPTION

Systems of various embodiments of the invention, automate part of thesorting process in conjunction with a programmable motion control system(such as for example, a linear indexing pick and place system, a dronesystem, or any of a wide variety of robotic systems, includingarticulated arm robot systems, concentric tube robot systems, andparallel arm (Delta-type arm) robot systems). In particular, systems ofvarious embodiments of the invention involve the steps of identifyingand moving selected objects. A programmable motion control system picksan object from an input area, passes the object near a scanner, andthen, having obtained identification information for the object (such asa barcode, QR codes SKU codes, other identification codes, informationread from a label on the object, or size, weight and/or shapeinformation), places the object in the appropriate location inaccordance with a manifest.

In accordance with certain embodiments, the invention provides a novelmotion planning system for the purposes of efficiently and effectivelymoving individual objects to a set of destination locations, e.g.,sorting locations. In applications such as order fulfillment, objects(articles or goods etc.) are collected into heterogeneous sets and needto be sorted. Individual objects need to be identified and then routedto object-specific locations. In accordance with certain embodiments,the system reliably automates the movement of such objects by employingautomated programmable motion (e.g., robotic) systems and motionplanning.

Important components of an automated processing (e.g., roboticsortation) system in accordance with an embodiment of the presentinvention are disclosed with reference to FIG. 1. FIG. 1 shows aprogrammable motion system 10 (e.g., a robotic system) that includes anarticulated arm 12 that includes an end effector 14 and articulatedsections 16, 18 and 20. The articulated arm 12 selects objects from aninput area such as a conveyor 22 that are either in an input bin on theconveyor 22 or are on the conveyor itself. A stand 24 includes anattached perception unit 26 that is directed toward the conveyor fromabove the conveyor. The perception unit 26 may be, for example, a 2D or3D camera, or a scanner such as a laser reflectivity scanner or othertype of bar-code reader, or a radio frequency ID scanner. An imagedisplay system is also provided as shown at 28 for providing an image ofthe perception unit's view on a touch screen input device. The roboticsystem 10 may further include the robotic environment and a targetstation 30 that includes a number of processing locations (e.g.,sortation bins) 32 into which objects may be placed afteridentification. A central computing and control system 34 maycommunicate with the perception unit 26 and the image display system 28,as well as with the articulated arm 12 via wireless communication, or,in certain embodiments, the central computing and control system may beprovided within the base section 20 of the articulated arm.

The system provides in an embodiment, an automated articleidentification system that includes a robotic pick and place system thatis able to pick articles up, move them in space, and place them. Thesystem may also include: the set of objects themselves to be identified,the manner in which inbound objects are organized (commonly in aheterogeneous pile in a bin or in a line on a conveyor), the manner inwhich outbound objects are organized (commonly in an array of outboundbins, or shelf cubbies), the manner in which objects are labeled withbarcodes or radio-frequency identification tags, a fixed primary scanneroperating above the incoming stream of objects, a scanning station whereone or more scanners and illuminators are activated when the object isheld at the station, and a central computing and control systemdetermines the appropriate location for placing the object (which isdependent on the object's decoded barcode).

As noted, the robotic pick and place system may include a robotic armequipped with sensors and computing, that when combined is assumedherein to exhibit the following capabilities: (a) it is able to pickobjects up from a specified class of objects, and separate them from astream of heterogeneous objects, whether they are jumbled in a bin, orare singulated on a motorized or gravity conveyor system; (b) it is ableto move the object to arbitrary places within its workspace; (c) it isable to place objects in an outgoing bin or shelf location in itsworkspace; and, (d) it is able to generate a map of objects that it isable to pick, represented as a candidate set of grasp points in theworkcell, and as a list of polytopes enclosing the object in space.

The allowable objects are determined by the capabilities of the roboticpick and place system. Their size, weight and geometry are assumed to besuch that the robotic pick and place system is able to pick, move andplace them. These may be any kind of ordered goods, packages, parcels,or other articles that benefit from automated sorting. Each object isassociated with a universal product code (UPC) or other unique objectidentifier, which identifies the item or provides information (such asan address) that itself directs object processing.

As discussed above, the system of an embodiment includes a perceptionsystem 26 that is mounted above a bin of objects to be sorted, lookingdown into the bin. A combination of 2D and 3D (depth) data is acquired.The system uses this imagery and a variety of algorithms to generate aset of candidate grasp locations for the objects in the bin.

FIG. 2 shows a diagrammatic image of a camera view from the perceptionunit 26, and the image may appear on the image display system 28 of FIG.1 with superimposed images of an end effector seeking to grasp eachobject 40, 42, 44, 46, 48, 50, 52 and 54 in a bin 56, showing thelocation of each grasp. Candidate grasp locations 58 are indicated usinga 3D model of the robot end effector placed in the location where theactual end effector would go to use as a grasp location as shown in FIG.2. The image shows several grasp locations 58 that would be consideredgood (e.g., they are close to the center of mass of the object toprovide greater stability during grasp and transport) and they avoidplaces on an object such as caps, seams etc. where a good vacuum sealmight not be available. The image also shows two grasp locations 60 thatare not good grasp locations, where the perception system did notcorrectly perceive the object 54, and in particular, did not perceivethat another object 48 is lying on top of the object 54.

In accordance with various embodiments, the invention provides aprogrammable motion system that may learn object grasp locations fromexperience and human guidance. Most robotic systems, for example,designed to localize objects and pick them up, rely on a suite ofsensors to give the system information about the location, size, pose,and even identity of an object. Such systems designed to work in thesame environments as human workers will face an enormous variety ofobjects, poses, etc. The 2D/3D imagery in conjunction with thehuman-selected grasp points can be used as input to machine learningalgorithms, to help the robotic system learn how to deal with such casesin the future, thereby reducing the need for operator assistance overtime. A combination of 2D and 3D (depth) data is acquired, the systemuses this imagery and a variety of algorithms to generate a set ofcandidate grasp points for the objects in the bin.

In addition to geometric information the system may learn the locationof fiducial markers such as barcodes on the object, which can be used asindicator for a surface patch that is flat and impermeable, hencesuitable for a suction cup. One such example is shipping boxes and bags,which tend to have the shipping label at the object's center of mass andprovide an impermeable surface, as opposed to the raw bag material whichmight be slightly porous and hence not present a good grasp. Inaccordance with further examples, the fiducial marker itself may not bethe target, but may provide a reference for finding a target grasplocation. Once a product is identified and its orientation is known forexample, a certain distance (e.g., x, y) from a fiducial marker may beused as an optimal grasp location.

The robotic system may employ motion planning using a trajectorydatabase that is dynamically updated over time, and is indexed bycustomer metrics. The problem domains contain a mix of changing andunchanging components in the environment. For example, the objects thatare presented to the system are often presented in randomconfigurations, but the target locations into which the objects are tobe placed are often fixed and do not change over the entire operation.

One use of the trajectory database is to exploit the unchanging parts ofthe environment by pre-computing and saving into a database trajectoriesthat efficiently and robustly move the system through these spaces.Another use of the trajectory database is to constantly improve theperformance of the system over the lifetime of its operation. Thedatabase communicates with a planning server that is continuouslyplanning trajectories from the various starts to the various goals, tohave a large and varied set of trajectories for achieving any particulartask. In various embodiments, a trajectory path may include any numberof changing and unchanging portions that, when combined, provide anoptimal trajectory path in an efficient amount of time.

FIG. 3 for example, shows a diagrammatic view of a robotic sortationsystem 70 that includes a conveyor 72 for providing input bins 56, 74,76 along a direction as indicated at A to a sortation station. A roboticsystem is shown diagrammatically at 80 and includes an end effector 82for moving objects from an input bin (e.g., 56) to processing locations,e.g., destination bins 86, 88, 90, 92, 94, 96, 98, 100, 102. Onceemptied, the empty bins 77 continue on the conveyor 72.

The robotic system may include a defined home or base location 84 towhich each object may initially be brought upon acquisition from the bin(e.g., 56). In certain embodiments, the system may include a pluralityof base locations, as well as a plurality of predetermined path portionsassociated with the plurality of base locations. The trajectories takenby the articulated arm of the robot system from the input bin to thebase location 84 are constantly changing based in part, on the locationof each object in the input bin, the orientation of the object in theinput bin, and the shape, weight and other physical properties of theobject to be acquired.

Once the articulated arm has acquired an object and is positioned at thebase location, the paths to each of the destination bins 86-102 are notchanging. In particular, each destination bin 86-102 is associated witha unique destination bin location 106, 108, 110, 112, 114, 116, 118,220, 222 and the trajectories from the base location 84 to each of thedestination bin locations individually is not changing. A trajectory,for example, may be a specification for the motion of a programmablemotion device over time. In accordance with various embodiments, suchtrajectories may be generated by experience, by a person training thesystem, and/or by automated algorithms. For a trajectory that is notchanging, the shortest distance is a direct path to the targetdestination bin, but the articulated arm is comprised of articulatedsections, joints, motors etc. that provide specific ranges of motion,speeds, accelerations and decelerations. Because of this, the roboticsystem may take any of a variety of trajectories between, for example,base location 84 and destination bin location 106.

FIG. 4 for example, shows three such trajectories (₁T¹, ₂T¹ and ₃T¹)between base location 84 and the destination bin location 106. Theelements of FIG. 4 are the same as those of FIG. 3. Each trajectory willhave an associated time as well as an associated risk factor. The timeis the time it takes for the articulated arm of the robotic system toaccelerate from the base location 84 move toward the destination bin 86,and decelerate to the destination bin location 106 in order to place theobject in the destination bin 86.

The risk factor may be determined in a number of ways including whetherthe trajectory includes a high (as pre-defined) acceleration ordeceleration (linear or angular) at any point during the trajectory. Therisk factor may also include any likelihood that the articulated arm mayencounter (crash into) anything in the robotic environment. Further, therisk factor may also be defined based on learned knowledge informationfrom experience of the same type of robotic arms in other roboticsystems moving the same object from a base location to the samedestination location.

As shown in the table at 130 in FIG. 4, the trajectory ₁T¹ (as shown at132) from the base location 84 to the destination location 106 may havea fast time (0.6 s) but a high risk factor (18.2). The trajectory ₂T¹(as shown at 134) from the base location 84 to the destination location106 may have a much slower time (1.4 s) but still a fairly high riskfactor (16.7). The trajectory ₃T¹ from the base location 84 to thedestination location 106 may have a relatively fast time (1.3 s) and amoderate risk factor (11.2). The choice of selecting the fastesttrajectory is not always the best as sometimes the fastest trajectorymay have an unacceptably high risk factor. If the risk factor is toohigh, valuable time may be lost by failure of the robotic system tomaintain acquisition of the object.

FIG. 5 shows the three trajectories (₁T¹, ₂T¹, ₃T¹) to destination binlocation 106 discussed with reference to FIG. 4, as well as two furthertrajectories (₄T¹, ₅T¹) between base location 84 and the destination binlocation 106. In the system of FIG. 5, the local control system 146 isable to communicate with one or more remote databases 148 via a networksuch as the Internet. The elements of FIG. 5 are the same as those ofFIG. 4. Again, each trajectory will have an associated time as well asan associated risk factor. As shown in the table at 140 in FIG. 5, thetrajectory ₄T¹ (as shown at 142) from the base location 84 to thedestination location 106 may have a fast time (0.4 s) and a moderaterisk factor (13.2). The trajectory ₅T¹ (as shown at 144) from the baselocation 84 to the destination location 106 may have a relatively fasttime (1.1 s) and a very low risk factor (6.4).

FIG. 6, for example, shows minimum time-selected trajectories from thebase location 84 to each of the destination bin locations 106-122. Inparticular, the tables shown at 150 show the time and risk factors for aplurality of the destination bins (e.g., 1-3), and the trajectories fromthe base location 84 to each of the destination bin locations 106, 108and 110 (as shown at 152, 154 and 156 respectively) are chosen toprovide the minimum time for motion planning for motion planning under arisk factor of 14.0. Similarly, the trajectories from the base location84 to each of the destination bin locations 112, 114 and 116 (as shownat 156, 158 and 160 respectively) are chosen to provide the minimum timefor motion planning for motion planning under a risk factor of 14.0, andthe trajectories from the base location 84 to each of the destinationbin locations 118, 120 and 122 (as shown at 162, 164 and 166respectively) are chosen to provide the minimum time for motion planningunder a risk factor of 14.0.

FIG. 7 shows minimum risk-factor-selected set of trajectories from thebase location 84 to each of the destination bin locations 106-122.Again, the tables shown at 150 show the time and risk factors for theplurality of the destination bins (e.g., 1-3). The trajectories from thebase location 84 to each of the destination bin locations 106, 108 and110 (as shown at 172, 174 and 176 respectively) are chosen to providethe minimum risk factor for motion planning for motion planning under amaximum time of 1.2 seconds. Similarly, the trajectories from the baselocation 84 to each of the destination bin locations 112, 114 and 116(as shown at 176, 178 and 180 respectively) are chosen to provide theminimum risk factors for motion planning for motion planning under amaximum time of 1.2 seconds, and the trajectories from the base location84 to each of the destination bin locations 118, 120 and 122 (as shownat 182, 184 and 186 respectively) are chosen to provide the minimum riskfactors for motion planning under a maximum time of 1.2 seconds.

The choice of fast time vs. low risk factor may be determined in avariety of ways, for example, by choosing the fastest time having a riskfactor below an upper risk factor limit (e.g., 12 or 14), or by choosinga lowest risk factor having a maximum time below an upper limit (e.g.,1.0 or 1.2). Again, if the risk factor is too high, valuable time may belost by failure of the robotic system to maintain acquisition of theobject. An advantage of the varied set is robustness to small changes inthe environment and to different-sized objects the system might behandling: instead of re-planning in these situations, the systemiterates through the database until it finds a trajectory that iscollision-free, safe and robust for the new situation. The system maytherefore generalize across a variety of environments without having tore-plan the motions.

Further, in accordance with certain embodiments, the system of FIG. 7may be used in the reverse order. In other words, the programmablemotion system may be used to gather desired objects from the bins 86-102and place them into combined sets or packages (break-packs) on aconveyor. Such break-packs may generally contain specific quantities ofdesired products for a variety of purposes. In such a system, theplanned motion would be used when needed, but pre-planned trajectoryportions that are pulled from a database would be used as much aspossible to conserve computation time.

FIG. 8 shows a processing system similar to that of FIG. 7 except thatthe system of FIG. 8 includes an additional processing unit 190 such asa labelling machine. As products are selected from the bin (changingformat), they may be brought to a first home position 84, and then movedto the processing unit 190. Once processed, the processing unit 190 thenserves as a second home position, and unchanging paths from theprocessing unit 190 to the various bins may be chosen as discussedabove.

Overall trajectories therefore, may include any number of changing andunchanging sections. For example. networks of unchanging trajectoryportions may be employed as commonly used paths (roads), while changingportions may be directed to being objects to a close by unchangingportion (close road) to facilitate moving the object without requiringthe entire route to be planned. For example, the programmable motiondevice (e.g., a robot) may be tasked with orienting the grasped objectin front of an automatic labeler before moving towards the destination.The trajectory to sort the object therefore, would be made up of thefollowing trajectory portions. First, a grasp pose to a home position(motion planned). Then, from home position to an auto-labeler home(pulled from a trajectory database). Then, from the auto-labeler home toa labelling pose (motion planned). Then, from the labelling pose to anauto-labeler home (either motion planned or just reverse the previousmotion plan step). Then, from the auto-labeler home to the intendeddestination (pulled from the trajectory database). A wide variety ofchanging and unchanging (planned and pulled from a database) portionsmay be employed in overall trajectories. In accordance with furtherembodiments, the object may be grasped from a specific pose (planned),and when the object reaches a destination bin (from the trajectorydatabase), the last step may be to again place the object in the desiredpose (planned) within the destination bin.

In accordance with further embodiments, each programmable movementsystem 80 may be provided with a plurality of home positions, and motionpaths may be identified from each of the home positions in variousembodiments. In accordance with further embodiments, multiple processingstations may be provided. In certain embodiments, therefore, a systemmay use the motion planning to plan a shorter overall distance byrequiring that the system plan a path from the object grasp pose to aclosest home position of several (e.g., a grid of) home positions.

With reference to FIG. 9, the system may also provide that emptied bins77 are removed from the conveyor 72 and stacked as shown, and withreference to FIG. 10, the system may instead place emptied bins 77 on aconveyor 79 that carries the empty bins away from the programmablemotion device 80 as shown. In each of these further systems, themovement of the end effector of the programmable motion device in movinga bin, may also involve determining a trajectory path for the empty binfrom the input location to the stacking location (FIG. 9) or to theempty bin conveyor 79 (FIG. 10). The trajectory path for the empty binmay include at least one changing portion that is determined specific tothe bin's location or orientation at the input location, and at leastone unchanging portion that is generally used in determining trajectorypaths for a plurality of bins. In other words, the same type of motionplanning may be employed in processing the emptied input bins 77.

FIG. 11 for example, shows a multi-stage robotic processing system 200that include multiple robotic processing stations 202, 204, 206, each ofwhich includes a robotic system 210 that acquires objects from a singleinput conveyor 208. Each robotic processing station 202, 204 206includes a defined robotic system base location 212 and a plurality ofdestination bins 214 into which objects from input bins 216 may beplaced. Each of the destination bins includes a defined destination binlocation as discussed above, and each of the sortation systems alsoincludes a local processor 218. Each of the local processors 218communicates with a central processor 220 that includes a database toprovide feedback and learning information regarding experiences inmoving objects along different trajectories. As the database acquiresmore data points, the system should become more efficient and robust. Byhaving all stations index into the same database or data sets therefore,different systems working in different places may have a commoninfrastructure for sharing information and planned trajectories.

Another advantage of the varied set is the ability to address severalcustomer metrics without having to re-plan motions. The database issorted and indexed by customer metrics like time, robustness, safety,distance to obstacles etc. and given a new customer metric, all thedatabase needs to do is to reevaluate the metric on the existingtrajectories, thereby resorting the list of trajectories, andautomatically producing the best trajectory that satisfies the newcustomer metric without having to re-plan motions.

Another advantage is that even if they are invalid due to changes in theenvironment or customer metrics, these stored trajectories can serve asseeds for trajectory optimization algorithms, thereby speeding up thegeneration of new trajectories in new situations.

A further advantage is that the database offers a mechanism fordifferent systems to share information remotely or over a network suchas the Internet. FIG. 12 for example, shows a multi-stage roboticprocessing system 300 that include multiple robotic processing stations302, 304, 306 and 308, each of which includes a robotic system 310 thatacquires objects from an input conveyor. Each robotic processing station302, 304, 306 and 308 includes a defined robotic system base location312 and a plurality of destination bins 314 into which objects frominput bins 316 may be placed. Each of the destination bins includes adefined destination bin location as discussed above, and each of theprocessing systems also includes a local processor 318. Each of thelocal processors 318 communicates with a central processor 320 thatincludes a database to provide feedback and learning informationregarding experiences in moving objects along different trajectories.The robotic processing stations 302, 304, 306, 308 may be in remotelocations and communicate with the central processor (and each other)via a wireless network such as the Internet 322. As the databaseacquires more data, the system should become more efficient and robust.By all indexing into the same database or data sets therefore, differentsystems working in different places may have a common infrastructure forsharing information and planned trajectories.

Motion planning systems of the invention may also be tailored to achievefurther objectives such as reducing shear force between a gripper and anobject, or moving an object that is open at the top. For example, FIG.13 shows a programmable motion system 350, e.g., a robotic system, withan articulated arm 352 and an end effector 354 that includes a vacuumcup 356 for engaging objects 358. With reference to FIG. 14A, when theobject 358 is lifted, a force of gravity (F_(g)) acts on the object, andif the object is moved rapidly in a direction that is transverse to theforce of gravity, a sheer force (F_(s)) will act on the object withrespect to the vacuum cup. A vacuum gripper may withstand a highertensile force than a sheer force, and in an embodiment (and withreference to FIGS. 14B and 14C), the articulated arm may lift the objectas it begins turning (FIG. 14B) such that when the object is rotatedrapidly (FIG. 14C), a centrifugal force is applied at the end effector(F_(c)), maintaining the vacuum cup's grip on the object in tension(F_(t)). Such a system, for example, may be particularly well suited forapplications in which the vacuum cup encounters heavy objects.Information therefore, regarding the size, shape and weight of an object(as well as its destination) may well also influence a chosentrajectory.

With reference to FIG. 15, in accordance with a further embodiment, thesystem may include an articulated arm 400 to which is attached an endeffector 402 that may, for example, be a tubular or conical shapedbellows. The end effector 402 also includes a sensor 404 that includesan attachment band 406 on the bellows, as well as a bracket 408 attachedto magnetic field sensor 404, and a magnet 412 is mounted on thearticulated arm 400. As the bellows moves in any of three directions(e.g., toward and away from the articulated arm as showndiagrammatically at Z, in directions transverse to the direction Z asshown at X, and directions transverse to both the directions Z and X asshown at Y. The magnetic field sensor 404 may communicate (e.g.,wirelessly) with a controller 410, which may also communicate with aflow monitor 414 to determine whether a high flow grasp of an object issufficient for continued grasp and transport as discussed further below.In certain embodiment, for example, the system may return the object ifthe air flow is insufficient to carry the load, or may increase the airflow to safely maintain the load.

In certain embodiments, the end effector may be a tubular or conicalshaped bellows. The magnetic field sensor may communicate (e.g.,wirelessly) with a controller, which may also communicate with a flowmonitor to determine whether a high flow grasp of an object issufficient for continued grasp and transport as discussed further below.In certain embodiment, for example, the system may return the object ifthe air flow is insufficient to carry the load, or may increase the airflow to safely maintain the load.

In accordance with further embodiments, systems of the invention mayprovide motion planning that accommodates specific needs orrequirements, such that an opened container or box be moved withoutspilling the contents. For example, FIG. 16 shows an end effector 450 ofa programmable motion device 456 that has engaged an open box 452 ofitems using a vacuum cup 454. As further shown in FIG. 17, as theprogrammable motion device moves the open box 452, the orientation withrespect to the vertical axis is maintained, and as shown in FIG. 18, theprogrammable motion device may place the object 452 on a surface 458 ata processing location in a desired orientation.

Those skilled in the art will appreciate that numerous modifications andvariations may be made to the above disclosed embodiments withoutdeparting from the spirit and scope of the present invention.

The invention claimed is:
 1. A processing system for providingprocessing of homogenous and non-homogenous objects in both structuredand cluttered environments, said processing system comprising: aprogrammable motion device including an end effector; a perceptionsystem for recognizing any of the identity, location, and orientation ofan object presented in a plurality of objects at an input location; agrasp acquisition system for acquiring the object using the end effectorto permit the object to be moved from the plurality of objects to one ofa plurality of processing locations; a motion planning system fordetermining a trajectory path from the input location to one of theplurality of processing locations, said trajectory path including atleast one changing portion that is determined specific to the object'slocation or orientation at the input location, and at least oneunchanging portion that is generally used in determining trajectorypaths for a plurality of objects; at least one sensor for monitoringobject acquisition characteristics during object acquisition and duringtravel; and a controller for altering operation of the motion planningsystem by reversing the determined trajectory path.
 2. The processingsystem as claimed in claim 1, wherein the controller alters operation ofthe grasp acquisition system by increasing the air flow at the effector.3. The processing system as claimed in claim 1, wherein the at least onesensor includes a magnetic field sensor.
 4. The processing system asclaimed in claim 1, wherein the at least one sensor includes a flowmonitor.
 5. The processing system as claimed in claim 1, wherein theprocessing system further includes a plurality of programmable motiondevices, each of which determines trajectory paths that include at leastone changing portion and at least one unchanging portion.
 6. Theprocessing system as claimed in claim 5, wherein each programmablemotion device is associated with an input area that includes at leastone input conveyor that is common to all input areas.
 7. The processingsystem as claimed in claim 5, wherein each programmable motion device isin communication with a library of predetermined unchanging portions. 8.The processing system as claimed in claim 1, wherein the unchangingportion of the trajectory path is determined responsive to trajectorydata regarding a plurality of possible trajectory paths from a baselocation to the processing locations.
 9. The processing system asclaimed in claim 8, wherein the trajectory data is provided by learnedknowledge information from a plurality of programmable motion devices.10. The processing system as claimed in claim 8, wherein the trajectorydata includes a time required to move through each of the plurality ofpossible trajectory paths from the base location to the processinglocations.
 11. The processing system as claimed in claim 8, wherein thetrajectory data includes a risk factor associated with moving througheach of the plurality of possible trajectory paths from the baselocation to the processing locations.
 12. The processing system asclaimed in claim 8, wherein the trajectory data is provided byexperience of the programmable motion device including the end effector.13. The processing system as claimed in claim 12, wherein the controllerupdates the trajectory data based on the experience of the monitoredobject acquisition characteristics.
 14. The processing system as claimedin claim 8, wherein the trajectory data includes a time required to movethrough each of the plurality of possible trajectory paths from at leastone base location to the processing locations, as well as a risk factorassociated with moving through each of the plurality of possibletrajectory paths from the base location to the processing locations. 15.The processing system as claimed in claim 14, wherein the unchangingportion of the trajectory path is determined to be a path with theassociated shortest time required to move from the base location to aprocessing location and having a risk factor that is below a pre-definedmaximum risk factor.
 16. The processing system as claimed in claim 14,wherein the unchanging portion of the trajectory path is determined tobe a path with the lowest risk factor associated with moving from thebase location to a processing location and having a risk factor that isbelow a pre-defined maximum time.
 17. A processing system for providingsortation of homogenous and non-homogenous objects in both structuredand cluttered environments, said processing system comprising: aprogrammable motion device including an end effector; a perceptionsystem for recognizing any of the identity, location, and orientation ofan object presented in a plurality of objects at an input location; agrasp acquisition system for acquiring the object using the end effectorto permit the object to be moved from the plurality of objects to one ofa plurality of processing locations; a motion planning system fordetermining a trajectory path from the input location to one of theplurality of processing locations, said trajectory path including atleast one dynamically determined portion that is determined specific tothe object's location or orientation at the input location, and at leastone predetermined portion that is selected from a plurality ofpredetermined portions; at least one sensor for monitoring objectacquisition characteristics during object acquisition and during travel;and a controller for altering operation of the motion planning system byreversing the determined trajectory path.
 18. The system as claimed inclaim 17, wherein the predetermined portion is selected from theplurality of predetermined portions based on at least two factorsincluding any of trajectory data, and a characteristic of the object.19. The processing system as claimed in claim 17, wherein the controlleralters operation of the grasp acquisition system by increasing the airflow at the effector.
 20. The processing system as claimed in claim 17,wherein the at least one sensor includes a magnetic field sensor. 21.The processing system as claimed in claim 17, wherein the at least onesensor includes a flow monitor.
 22. The processing system as claimed inclaim 17, wherein each of the predetermined portions of the includestrajectory time and trajectory risk.
 23. The processing system asclaimed in claim 22, wherein the trajectory data includes a timerequired to move through each of the plurality of possible trajectorypaths from the base location to the processing locations.
 24. Theprocessing system as claimed in claim 22, wherein the trajectory dataincludes a risk factor associated with moving through each of theplurality of possible trajectory paths from the base location to theprocessing locations.
 25. The processing system as claimed in claim 22,wherein the trajectory path is determined responsive to trajectory dataregarding a plurality of possible trajectory paths from multiple baselocations to the processing locations.
 26. The processing system asclaimed in claim 22, wherein the trajectory data is provided by learnedknowledge information from a plurality of processing systems.
 27. Theprocessing system as claimed in claim 22, wherein the trajectory data isprovided by experience of the programmable motion device including theend effector.
 28. The processing system as claimed in claim 27, whereinthe controller updates the trajectory data based on the experience ofthe monitored object acquisition characteristics.
 29. The processingsystem as claimed in claim 22, wherein the trajectory data includes atime required to move through each of the plurality of possibletrajectory paths from the base location to the processing location, aswell as a risk factor associated with moving through each of theplurality of possible trajectory paths from the base location to theprocessing locations.
 30. The processing system as claimed in claim 29,wherein the predetermined portion of the trajectory paths is determinedto be a path with the associated shortest time required to move from thebase location to a processing location and having a risk factor that isbelow a pre-defined maximum risk factor.
 31. The processing system asclaimed in claim 29, wherein the predetermined portion of the trajectorypaths is determined to be a path with the lowest risk factor associatedwith moving from the base location to a processing location and having arisk factor that is below a pre-defined maximum time.
 32. A method ofproviding processing of homogenous and non-homogenous objects in bothstructured and cluttered environments, said method comprising the stepsof: acquiring an object from an input location using an end effector ofa programmable motion device to permit the object to be moved from theplurality of objects at an input location to one of a plurality ofprocessing locations; determining a trajectory path of the end effectorfrom the object to one of the plurality of processing locations, saidtrajectory path including at least one dynamically determined portionthat is determined specific to the object's location or orientation atthe input location, and at least one predetermined portion that isselected from a plurality of predetermined portions; monitoring objectacquisition characteristics during object acquisition and during travelusing at least one sensor; and altering operation of the programmablemotion device responsive to the object acquisition characteristics tochange the determined trajectory, wherein the determined trajectory pathis changed further responsive to experience of the monitored objectacquisition characteristics.
 33. The method as claimed in claim 32,wherein the plurality of objects at the input location are provided inan input container, and wherein a container trajectory path for movingthe input container is determined that also includes at least onedynamically determined portion that is determined specific to the inputcontainer's location or orientation at the input location, and at leastone predetermined portion that is predetermined and is not specific tothe input container, the input container's location or the inputcontainer's orientation at the input area.
 34. The method as claimed inclaim 32, wherein the predetermined portion is selected from theplurality of predetermined portions based, in part, on a characteristicof the object.
 35. The method as claimed in claim 32, wherein thepredetermined portion of the trajectory path is also selected responsiveto trajectory data regarding a plurality of possible trajectory pathsfrom at least one base location to the processing locations.
 36. Themethod as claimed in claim 35, wherein the trajectory data includes atime required to move through each of the plurality of possibletrajectory paths from the base location to the processing locations. 37.The method as claimed in claim 35, wherein the trajectory data includesa risk factor associated with moving through each of the plurality ofpossible trajectory paths from the base location to the processinglocations.
 38. The method as claimed in claim 35, wherein the trajectorydata is provided by learned knowledge information from a plurality ofprogrammable motion devices.
 39. The method as claimed in claim 35,wherein the trajectory path is determined responsive to trajectory dataregarding a risk of moving an object having a specific characteristic ata certain velocity.
 40. The method as claimed in claim 35, wherein thetrajectory data is provided by experience of the programmable motiondevice including the end effector.
 41. The method as claimed in claim13, wherein the trajectory data is updated responsive to the experienceof the monitored object acquisition characteristics.
 42. The method asclaimed in claim 35, wherein the trajectory data includes a timerequired to move through each of the plurality of possible trajectorypaths from the base location to the processing location, as well as arisk factor associated with moving through each of the plurality ofpossible trajectory paths from the base location to the processinglocations.
 43. The method as claimed in claim 42, wherein thepredetermined portion of the trajectory path is determined to be a pathwith the associated shortest time required to move from the baselocation to a processing location and having a risk factor that is belowa pre-defined maximum risk factor.
 44. The method as claimed in claim42, wherein the predetermined portion of the trajectory path isdetermined to be a path with the lowest risk factor associated withmoving from the base location to a processing location and having a riskfactor that is below a pre-defined maximum time.
 45. A processing systemfor providing processing of homogenous and non-homogenous objects inboth structured and cluttered environments, said processing systemcomprising: a programmable motion device including an end effector; aperception system for recognizing any of the identity, location, andorientation of an object presented in a plurality of objects at an inputlocation; a grasp acquisition system for acquiring the object using theend effector to permit the object to be moved from the plurality ofobjects to one of a plurality of processing locations; a motion planningsystem for determining a trajectory path from the input location to oneof the plurality of processing locations, said trajectory path includingat least one changing portion that is determined specific to theobject's location or orientation at the input location, and at least oneunchanging portion that is generally used in determining trajectorypaths for a plurality of objects; at least one sensor for monitoringobject acquisition characteristics during object acquisition and duringtravel; and a controller for altering operation of the grasp acquisitionsystem by increasing air flow at the end effector.
 46. The processingsystem as claimed in claim 45, wherein the controller alters operationof the motion planning system by reversing the determined trajectorypath.
 47. The processing system as claimed in claim 45, wherein the atleast one sensor includes a magnetic field sensor.
 48. The processingsystem as claimed in claim 45, wherein the at least one sensor includesa flow monitor.
 49. The processing system as claimed in claim 45,wherein the processing system further includes a plurality ofprogrammable motion devices, each of which determines trajectory pathsthat include at least one changing portion and at least one unchangingportion.
 50. The processing system as claimed in claim 49, wherein eachprogrammable motion device is associated with an input area thatincludes at least one input conveyor that is common to all input areas.51. The processing system as claimed in claim 49, wherein eachprogrammable motion device is in communication with a library ofpredetermined unchanging portions.
 52. The processing system as claimedin claim 45, wherein the unchanging portion of the trajectory path isdetermined responsive to trajectory data regarding a plurality ofpossible trajectory paths from a base location to the processinglocations.
 53. The processing system as claimed in claim 52, wherein thetrajectory data includes a time required to move through each of theplurality of possible trajectory paths from the base location to theprocessing locations.
 54. The processing system as claimed in claim 52,wherein the trajectory data includes a risk factor associated withmoving through each of the plurality of possible trajectory paths fromthe base location to the processing locations.
 55. The processing systemas claimed in claim 52, wherein the trajectory data is provided bylearned knowledge information from a plurality of programmable motiondevices.
 56. The processing system as claimed in claim 52, wherein thetrajectory data is provided by experience of the programmable motiondevice including the end effector.
 57. The processing system as claimedin claim 56, wherein the controller updates the trajectory data based onthe experience of the monitored object acquisition characteristics. 58.The processing system as claimed in claim 52, wherein the trajectorydata includes a time required to move through each of the plurality ofpossible trajectory paths from at least one base location to theprocessing locations, as well as a risk factor associated with movingthrough each of the plurality of possible trajectory paths from the baselocation to the processing locations.
 59. The processing system asclaimed in claim 58, wherein the unchanging portion of the trajectorypath is determined to be a path with the associated shortest timerequired to move from the base location to a processing location andhaving a risk factor that is below a pre-defined maximum risk factor.60. The processing system as claimed in claim 58, wherein the unchangingportion of the trajectory path is determined to be a path with thelowest risk factor associated with moving from the base location to aprocessing location and having a risk factor that is below a pre-definedmaximum time.
 61. A processing system for providing processing ofhomogenous and non-homogenous objects in both structured and clutteredenvironments, said processing system comprising: a programmable motiondevice including an end effector; a perception system for recognizingany of the identity, location, and orientation of an object presented ina plurality of objects at an input location; a grasp acquisition systemfor acquiring the object using the end effector to permit the object tobe moved from the plurality of objects to one of a plurality ofprocessing locations; a motion planning system for determining atrajectory path from the input location to one of the plurality ofprocessing locations, said trajectory path including at least onechanging portion that is determined specific to the object's location ororientation at the input location, and at least one unchanging portionthat is generally used in determining trajectory paths for a pluralityof objects; at least one sensor for monitoring object acquisitioncharacteristics during object acquisition and during travel, wherein theat least one sensor includes a magnetic field sensor; and a controllerfor altering operation of one or both of the grasp acquisition systemand the motion planning system responsive to input from the at least onesensor.
 62. The processing system as claimed in claim 61, wherein thecontroller alters operation of the motion planning system by reversingthe determined trajectory path.
 63. The processing system as claimed inclaim 61, wherein the controller alters operation of the graspacquisition system by increasing the air flow at the effector.
 64. Theprocessing system as claimed in claim 61, wherein the at least onesensor includes a flow monitor.
 65. The processing system as claimed inclaim 61, wherein the unchanging portion of the trajectory path isdetermined responsive to trajectory data regarding a plurality ofpossible trajectory paths from a base location to the processinglocations.
 66. The processing system as claimed in claim 65, wherein thetrajectory data includes a time required to move through each of theplurality of possible trajectory paths from the base location to theprocessing locations.
 67. The processing system as claimed in claim 65,wherein the trajectory data includes a risk factor associated withmoving through each of the plurality of possible trajectory paths fromthe base location to the processing locations.
 68. The processing systemas claimed in claim 65, wherein the trajectory data is provided bylearned knowledge information from a plurality of programmable motiondevices.
 69. The processing system as claimed in claim 65, wherein thetrajectory data is provided by experience of the programmable motiondevice including the end effector.
 70. The processing system as claimedin claim 69, wherein the controller updates the trajectory data based onthe experience of the monitored object acquisition characteristics. 71.The processing system as claimed in claim 65, wherein the trajectorydata includes a time required to move through each of the plurality ofpossible trajectory paths from at least one base location to theprocessing locations, as well as a risk factor associated with movingthrough each of the plurality of possible trajectory paths from the baselocation to the processing locations.
 72. The processing system asclaimed in claim 71, wherein the unchanging portion of the trajectorypath is determined to be a path with the associated shortest timerequired to move from the base location to a processing location andhaving a risk factor that is below a pre-defined maximum risk factor.73. The processing system as claimed in claim 71, wherein the unchangingportion of the trajectory path is determined to be a path with thelowest risk factor associated with moving from the base location to aprocessing location and having a risk factor that is below a pre-definedmaximum time.
 74. The processing system as claimed in claim 61, whereinthe processing system further includes a plurality of programmablemotion devices, each of which determines trajectory paths that includeat least one changing portion and at least one unchanging portion. 75.The processing system as claimed in claim 74, wherein each programmablemotion device is associated with an input area that includes at leastone input conveyor that is common to all input areas.
 76. The processingsystem as claimed in claim 74, wherein each programmable motion deviceis in communication with a library of predetermined unchanging portions.77. A processing system for providing processing of homogenous andnon-homogenous objects in both structured and cluttered environments,said processing system comprising: a programmable motion deviceincluding an end effector; a perception system for recognizing any ofthe identity, location, and orientation of an object presented in aplurality of objects at an input location; a grasp acquisition systemfor acquiring the object using the end effector to permit the object tobe moved from the plurality of objects to one of a plurality ofprocessing locations; a motion planning system for determining atrajectory path from the input location to one of the plurality ofprocessing locations, said trajectory path including at least onechanging portion that is determined specific to the object's location ororientation at the input location, and at least one unchanging portionthat is generally used in determining trajectory paths for a pluralityof objects, wherein the unchanging portion of the trajectory path isdetermined responsive to trajectory data regarding a plurality ofpossible trajectory paths from a base location to the processinglocations, and wherein the trajectory data is provided by experience ofthe programmable motion device including the end effector; at least onesensor for monitoring object acquisition characteristics during objectacquisition and during travel; and a controller for altering operationof one or both of the grasp acquisition system and the motion planningsystem responsive to input from the at least one sensor, wherein thecontroller updates the trajectory data based on the experience of themonitored object acquisition characteristics.
 78. The processing systemas claimed in claim 77, wherein the trajectory data includes a timerequired to move through each of the plurality of possible trajectorypaths from the base location to the processing locations.
 79. Theprocessing system as claimed in claim 77, wherein the trajectory dataincludes a risk factor associated with moving through each of theplurality of possible trajectory paths from the base location to theprocessing locations.
 80. The processing system as claimed in claim 77,wherein the controller alters operation of the motion planning system byreversing the determined trajectory path.
 81. The processing system asclaimed in claim 77, wherein the controller alters operation of thegrasp acquisition system by increasing the air flow at the effector. 82.The processing system as claimed in claim 77, wherein the at least onesensor includes a magnetic field sensor.
 83. The processing system asclaimed in claim 77, wherein the at least one sensor includes a flowmonitor.
 84. The processing system as claimed in claim 77, wherein thetrajectory data is provided by learned knowledge information from aplurality of programmable motion devices.
 85. The processing system asclaimed in claim 77, wherein the trajectory data includes a timerequired to move through each of the plurality of possible trajectorypaths from at least one base location to the processing locations, aswell as a risk factor associated with moving through each of theplurality of possible trajectory paths from the base location to theprocessing locations.
 86. The processing system as claimed in claim 85,wherein the unchanging portion of the trajectory path is determined tobe a path with the associated shortest time required to move from thebase location to a processing location and having a risk factor that isbelow a pre-defined maximum risk factor.
 87. The processing system asclaimed in claim 85, wherein the unchanging portion of the trajectorypath is determined to be a path with the lowest risk factor associatedwith moving from the base location to a processing location and having arisk factor that is below a pre-defined maximum time.
 88. The processingsystem as claimed in claim 77, wherein the processing system furtherincludes a plurality of programmable motion devices, each of whichdetermines trajectory paths that include at least one changing portionand at least one unchanging portion.
 89. The processing system asclaimed in claim 88, wherein each programmable motion device is incommunication with a library of predetermined unchanging portions. 90.The processing system as claimed in claim 88, wherein each programmablemotion device is associated with an input area that includes at leastone input conveyor that is common to all input areas.
 91. A processingsystem for providing sortation of homogenous and non-homogenous objectsin both structured and cluttered environments, said processing systemcomprising: a programmable motion device including an end effector; aperception system for recognizing any of the identity, location, andorientation of an object presented in a plurality of objects at an inputlocation; a grasp acquisition system for acquiring the object using theend effector to permit the object to be moved from the plurality ofobjects to one of a plurality of processing locations; a motion planningsystem for determining a trajectory path from the input location to oneof the plurality of processing locations, said trajectory path includingat least one dynamically determined portion that is determined specificto the object's location or orientation at the input location, and atleast one predetermined portion that is selected from a plurality ofpredetermined portions; at least one sensor for monitoring objectacquisition characteristics during object acquisition and during travel;and a controller for altering operation of one or both of the graspacquisition system and the motion planning system responsive to inputfrom the at least one sensor.
 92. The processing system as claimed inclaim 91, wherein the controller alters operation of the motion planningsystem by reversing the determined trajectory path.
 93. The processingsystem as claimed in claim 91, wherein the at least one sensor includesa magnetic field sensor.
 94. The processing system as claimed in claim91, wherein the at least one sensor includes a flow monitor.
 95. Theprocessing system as claimed in claim 91, wherein each of thepredetermined portions of the trajectory data includes trajectory timeand trajectory risk.
 96. The processing system as claimed in claim 95,wherein the trajectory data includes a time required to move througheach of the plurality of possible trajectory paths from the baselocation to the processing locations.
 97. The processing system asclaimed in claim 95, wherein the trajectory data includes a risk factorassociated with moving through each of the plurality of possibletrajectory paths from the base location to the processing locations. 98.The processing system as claimed in claim 95, wherein the trajectorydata is provided by learned knowledge information from a plurality ofprocessing systems.
 99. The processing system as claimed in claim 95,wherein the trajectory path is determined responsive to trajectory dataregarding a plurality of possible trajectory paths from multiple baselocations to the processing locations.
 100. The processing system asclaimed in claim 95, wherein the trajectory data is provided byexperience of the programmable motion device including the end effector.101. The processing system as claimed in claim 100, wherein thecontroller updates the trajectory data based on the experience of themonitored object acquisition characteristics.
 102. The processing systemas claimed in claim 95, wherein the trajectory data includes a timerequired to move through each of the plurality of possible trajectorypaths from the base location to the processing location, as well as arisk factor associated with moving through each of the plurality ofpossible trajectory paths from the base location to the processinglocations.
 103. The processing system as claimed in claim 102, whereinthe predetermined portion of the trajectory paths is determined to be apath with the associated shortest time required to move from the baselocation to a processing location and having a risk factor that is belowa pre-defined maximum risk factor.
 104. The processing system as claimedin claim 102, wherein the predetermined portion of the trajectory pathsis determined to be a path with the lowest risk factor associated withmoving from the base location to a processing location and having a riskfactor that is below a pre-defined maximum time.
 105. A processingsystem for providing sortation of homogenous and non-homogenous objectsin both structured and cluttered environments, said processing systemcomprising: a programmable motion device including an end effector; aperception system for recognizing any of the identity, location, andorientation of an object presented in a plurality of objects at an inputlocation; a grasp acquisition system for acquiring the object using theend effector to permit the object to be moved from the plurality ofobjects to one of a plurality of processing locations; a motion planningsystem for determining a trajectory path from the input location to oneof the plurality of processing locations, said trajectory path includingat least one dynamically determined portion that is determined specificto the object's location or orientation at the input location, and atleast one predetermined portion that is selected from a plurality ofpredetermined portions; at least one sensor for monitoring objectacquisition characteristics during object acquisition and during travel,wherein the at least one sensor includes a magnetic field sensor; and acontroller for altering operation of one or both of the graspacquisition system and the motion planning system responsive to inputfrom the at least one sensor.
 106. The processing system as claimed inclaim 105, wherein the controller alters operation of the motionplanning system by reversing the determined trajectory path.
 107. Theprocessing system as claimed in claim 105, wherein the controller altersoperation of the grasp acquisition system by increasing the air flow atthe effector.
 108. The processing system as claimed in claim 105,wherein the at least one sensor includes a flow monitor.
 109. Theprocessing system as claimed in claim 105, wherein each of thepredetermined portions of the trajectory data includes trajectory timeand trajectory risk.
 110. The processing system as claimed in claim 109,wherein the trajectory data includes a time required to move througheach of the plurality of possible trajectory paths from the baselocation to the processing locations.
 111. The processing system asclaimed in claim 109, wherein the trajectory data includes a risk factorassociated with moving through each of the plurality of possibletrajectory paths from the base location to the processing locations.112. The processing system as claimed in claim 109, wherein thetrajectory data is provided by experience of the programmable motiondevice including the end effector.
 113. The processing system as claimedin claim 109, wherein the trajectory data is provided by learnedknowledge information from a plurality of processing systems.
 114. Theprocessing system as claimed in claim 109, wherein the trajectory pathis determined responsive to trajectory data regarding a plurality ofpossible trajectory paths from multiple base locations to the processinglocations.
 115. The processing system as claimed in claim 109, whereinthe trajectory data includes a time required to move through each of theplurality of possible trajectory paths from the base location to theprocessing location, as well as a risk factor associated with movingthrough each of the plurality of possible trajectory paths from the baselocation to the processing locations.
 116. The processing system asclaimed in claim 115, wherein the predetermined portion of thetrajectory paths is determined to be a path with the lowest risk factorassociated with moving from the base location to a processing locationand having a risk factor that is below a pre-defined maximum time. 117.The processing system as claimed in claim 115, wherein the predeterminedportion of the trajectory paths is determined to be a path with theassociated shortest time required to move from the base location to aprocessing location and having a risk factor that is below a pre-definedmaximum risk factor.
 118. The processing system as claimed in claim 117,wherein the controller updates the trajectory data based on theexperience of the monitored object acquisition characteristics.
 119. Aprocessing system for providing sortation of homogenous andnon-homogenous objects in both structured and cluttered environments,said processing system comprising: a programmable motion deviceincluding an end effector; a perception system for recognizing any ofthe identity, location, and orientation of an object presented in aplurality of objects at an input location; a grasp acquisition systemfor acquiring the object using the end effector to permit the object tobe moved from the plurality of objects to one of a plurality ofprocessing locations; a motion planning system for determining atrajectory path from the input location to one of the plurality ofprocessing locations, said trajectory path including at least onedynamically determined portion that is determined specific to theobject's location or orientation at the input location, and at least onepredetermined portion that is selected from a plurality of predeterminedportions; at least one sensor for monitoring object acquisitioncharacteristics during object acquisition and during travel; and acontroller for altering operation of the grasp acquisition system byincreasing air flow at the end effector.
 120. The processing system asclaimed in claim 119, wherein the controller alters operation of themotion planning system by reversing the determined trajectory path. 121.The processing system as claimed in claim 119, wherein the controlleralters operation of the grasp acquisition system by increasing the airflow at the effector.
 122. The processing system as claimed in claim119, wherein the at least one sensor includes a magnetic field sensor.123. The processing system as claimed in claim 119, wherein the at leastone sensor includes a flow monitor.
 124. The processing system asclaimed in claim 119, wherein each of the predetermined portions of thetrajectory data includes trajectory time and trajectory risk.
 125. Theprocessing system as claimed in claim 124, wherein the trajectory dataincludes a risk factor associated with moving through each of theplurality of possible trajectory paths from the base location to theprocessing locations.
 126. The processing system as claimed in claim124, wherein the trajectory data includes a time required to movethrough each of the plurality of possible trajectory paths from the baselocation to the processing locations.
 127. The processing system asclaimed in claim 124, wherein the trajectory data is provided by learnedknowledge information from a plurality of processing systems.
 128. Theprocessing system as claimed in claim 124, wherein the trajectory pathis determined responsive to trajectory data regarding a plurality ofpossible trajectory paths from multiple base locations to the processinglocations.
 129. The processing system as claimed in claim 124, whereinthe trajectory data is provided by experience of the programmable motiondevice including the end effector.
 130. The processing system as claimedin claim 129, wherein the controller updates the trajectory data basedon the experience of the monitored object acquisition characteristics.131. The processing system as claimed in claim 124, wherein thetrajectory data includes a time required to move through each of theplurality of possible trajectory paths from the base location to theprocessing location, as well as a risk factor associated with movingthrough each of the plurality of possible trajectory paths from the baselocation to the processing locations.
 132. The processing system asclaimed in claim 131, wherein the predetermined portion of thetrajectory paths is determined to be a path with the associated shortesttime required to move from the base location to a processing locationand having a risk factor that is below a pre-defined maximum riskfactor.
 133. The processing system as claimed in claim 131, wherein thepredetermined portion of the trajectory paths is determined to be a pathwith the lowest risk factor associated with moving from the baselocation to a processing location and having a risk factor that is belowa pre-defined maximum time.
 134. A method of providing processing ofhomogenous and non-homogenous objects in both structured and clutteredenvironments, said method comprising the steps of: acquiring an objectfrom an input location using an end effector of a programmable motiondevice to permit the object to be moved from the plurality of objects atan input location to one of a plurality of processing locations;determining a trajectory path of the end effector from the object to oneof the plurality of processing locations, said trajectory path includingat least one dynamically determined portion that is determined specificto the object's location or orientation at the input location, and atleast one predetermined portion that is selected from a plurality ofpredetermined portions, wherein the predetermined portion of thetrajectory path is selected responsive to trajectory data regarding aplurality of possible trajectory paths from at least one base locationto the processing locations, wherein the trajectory data is provided byexperience of the programmable motion device including the end effector;monitoring object acquisition characteristics during object acquisitionand during travel using at least one sensor; updating the trajectorydata based on the experience of the monitored object acquisitioncharacteristics; and altering operation of the programmable motiondevice responsive to the object acquisition characteristics to changethe determined trajectory path.
 135. The method as claimed in claim 134,wherein the trajectory data includes a time required to move througheach of the plurality of possible trajectory paths from the baselocation to the processing locations.
 136. The method as claimed inclaim 134, wherein the trajectory data includes a risk factor associatedwith moving through each of the plurality of possible trajectory pathsfrom the base location to the processing locations.
 137. The method asclaimed in claim 134, wherein the trajectory data is provided by learnedknowledge information from a plurality of programmable motion devices.138. The method as claimed in claim 134, wherein the plurality ofobjects at the input location are provided in an input container, andwherein a container trajectory path for moving the input container isdetermined that also includes at least one dynamically determinedportion that is determined specific to the input container's location ororientation at the input location, and at least one predeterminedportion that is predetermined and is not specific to the inputcontainer, the input container's location or the input container'sorientation at the input area.
 139. The method as claimed in claim 134,wherein the trajectory path is determined responsive to trajectory dataregarding a risk of moving an object having a specific characteristic ata certain velocity.
 140. The method as claimed in claim 134, wherein thepredetermined portion is selected from the plurality of predeterminedportions based, in part, on a characteristic of the object.
 141. Themethod as claimed in claim 134, wherein the determined trajectory ischanged responsive to the experience of the monitored object acquisitioncharacteristics.
 142. The method as claimed in claim 134, wherein thetrajectory data includes a time required to move through each of theplurality of possible trajectory paths from the base location to theprocessing location, as well as a risk factor associated with movingthrough each of the plurality of possible trajectory paths from the baselocation to the processing locations.
 143. The method as claimed inclaim 142, wherein the predetermined portion of the trajectory path isdetermined to be a path with the associated shortest time required tomove from the base location to a processing location and having a riskfactor that is below a pre-defined maximum risk factor.
 144. The methodas claimed in claim 142, wherein the predetermined portion of thetrajectory path is determined to be a path with the lowest risk factorassociated with moving from the base location to a processing locationand having a risk factor that is below a pre-defined maximum time.